METHOD, SYSTEM AND STORAGE MEDIUM OF RESILIENT HUMAN-ON-THE-LOOP RANGE-ONLY COOPERATIVE POSITIONING OF PLURALITY OF UNMANNED AERIAL VEHICLES

    公开(公告)号:US20250028337A1

    公开(公告)日:2025-01-23

    申请号:US18494293

    申请日:2023-10-25

    Abstract: The present disclosure provides a method, a system and a storage medium of resilient human-on-the-loop range-only cooperative positioning of a plurality of unmanned aerial vehicles (UAVs). The method includes computing an initial exploitability using an initial distribution and an initial policy; performing a forward updating of a distribution of a portion of the plurality of UAVs, and performing a backward updating of a Q function of each UAV of the plurality of UAVs; for each time step, calculating a dual variable at an (i+1)-th iteration and calculating a policy at an (i+1)-th iteration; computing a ratio of an exploitability at the (i+1)-th iteration over the initial exploitability; and if the ratio is less than or equal to a pre-defined tolerance value, maintaining a policy at the i-th iteration; and if the ratio is greater than the pre-defined tolerance value, using the policy at the (i+1)-th iteration.

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